Proposed a method for constructing an autopilot designed for crew less vessels a long program trajectories. An algorithm for generating ship control signals based on its current kinematic parameters due to hierarchically organized PID and PI regulators is presented. The method of selection of point of maneuvering commence due to distance to course lines cross depending on turning angle value is presented. The results of maneuvering tests of an automatically manned vessel are presented.
unmanned vessel, automatic control, programmed trajectory
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